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公开(公告)号：US20080154246A1
公开(公告)日：2008-06-26
申请号：US12016556
申请日：2008-01-18
申请人： William C. Nowlin , Gary S. Guthart , Robert G. Younge , Thomas G. Cooper , Craig Gerbi , Stephen J. Blumenkranz , Dean F. Hoornaert
发明人： William C. Nowlin , Gary S. Guthart , Robert G. Younge , Thomas G. Cooper , Craig Gerbi , Stephen J. Blumenkranz , Dean F. Hoornaert
CPC分类号： A61B34/76 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B2017/00477 , A61B2034/305 , A61B2090/506 , B25J9/1689 , G05B2219/36455 , G05B2219/37396 , G05B2219/40146 , G05B2219/45169 , G06F19/00 , G16H50/50
摘要： Surgical robots and other telepresence systems have enhanced grip actuation for manipulating tissues and objects with small sizes. A master/slave system is used in which an error signal or gain is artificially altered when grip members are near a closed configuration.
摘要翻译： 手术机器人和其他远程呈现系统具有增强的手柄致动，用于操纵具有小尺寸的组织和物体。 使用主/从系统，其中当夹持构件接近关闭构造时，错误信号或增益被人为改变。
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公开(公告)号：US06858003B2
公开(公告)日：2005-02-22
申请号：US10214286
申请日：2002-08-06
申请人： Philip C. Evans , Frederic H. Moll , Gary S. Guthart , William C. Nowlin , Rand P. Pendleton , Christopher P. Wilson , Andris D. Ramans , David J. Rosa , Volkmar Falk , Robert G. Younge
发明人： Philip C. Evans , Frederic H. Moll , Gary S. Guthart , William C. Nowlin , Rand P. Pendleton , Christopher P. Wilson , Andris D. Ramans , David J. Rosa , Volkmar Falk , Robert G. Younge
CPC分类号： A61B34/32 , A61B17/04 , A61B17/0469 , A61B34/20 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/77 , A61B90/361 , A61B2017/00243 , A61B2017/00703 , A61B2034/2065 , A61B2034/305 , A61B2034/742 , A61B2090/064
摘要： A surgical system or assembly for performing cardiac surgery includes a surgical instrument; a servo-mechanical system engaged to the surgical instrument for operating the surgical instrument; and an attachment assembly for removing at least one degree of movement from a moving surgical cardiac worksite to produce a resultant surgical cardiac worksite. The surgical system or assembly also includes a motion tracking system for gathering movement information on a resultant surgical cardiac worksite. A control computer is engaged to the attachment assembly and to the motion tracking system and to the servo-mechanical system for controlling movement of the attachment assembly and for feeding gathered information to the servo-mechanical system for moving the surgical instrument in unison with the resultant surgical cardiac worksite such that a relative position of the moving surgical instrument with respect to the resultant surgical cardiac worksite is generally constant. A video monitor is coupled to the control computer; and an input system is coupled to the servo-mechanical system and to the control computer for providing a movement of the surgical instrument. The video monitor displays movement of the surgical instrument while the resultant surgical cardiac worksite appears substantially stationary, and while a relative position of the surgical instrument moving in unison with the resultant surgical cardiac worksite, as a result from the movement information gathered by the motion tracking system, remains generally constant. A method of performing cardiac surgery without cardioplegia comprising removing at least one degree of movement freedom from a moving surgical cardiac worksite to produce at least a partially stationary surgical cardiac worksite while allowing a residual heart section, generally separate from the at least partially stationary surgical cardiac worksite, to move as a residual moving heart part. Cardiac surgery is performed on the at least partially stationary cardiac worksite with a surgical instrument such as needle drivers, forceps, blades and scissors.
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公开(公告)号：US06594552B1
公开(公告)日：2003-07-15
申请号：US09544153
申请日：2000-04-06
申请人： William C. Nowlin , Gary S. Guthart , Robert G. Younge , Thomas G. Cooper , Craig Gerbi , Steven J. Blumenkranz , Dean F. Hoornaert
发明人： William C. Nowlin , Gary S. Guthart , Robert G. Younge , Thomas G. Cooper , Craig Gerbi , Steven J. Blumenkranz , Dean F. Hoornaert
IPC分类号： G05B1500
CPC分类号： A61B34/76 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B2017/00477 , A61B2034/305 , A61B2090/506 , B25J9/1689 , G05B2219/36455 , G05B2219/37396 , G05B2219/40146 , G05B2219/45169 , G06F19/00 , G16H50/50
摘要： Surgical robots and other telepresence systems have enhanced grip actuation for manipulating tissues and objects with small sizes. A master/slave system is used in which an error signal or gain is artificially altered when grip members are near a closed configuration.
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公开(公告)号：US09726476B2
公开(公告)日：2017-08-08
申请号：US13603048
申请日：2012-09-04
IPC分类号： A61B5/00 , G01B11/16 , A61B5/06 , A61B6/12 , A61B1/00 , G01L1/24 , A61B8/08 , A61B18/08 , A61B8/00 , A61B90/96 , A61B34/37 , A61B90/98 , A61B34/00 , A61M25/01 , A61B34/20 , A61B34/30 , A61B90/00 , A61B17/00
CPC分类号： G01B11/16 , A61B1/00004 , A61B1/00013 , A61B1/00045 , A61B1/00057 , A61B1/00165 , A61B1/0017 , A61B5/0059 , A61B5/0064 , A61B5/06 , A61B5/065 , A61B5/066 , A61B5/4887 , A61B5/7285 , A61B6/12 , A61B8/00 , A61B8/48 , A61B18/082 , A61B34/20 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/77 , A61B90/39 , A61B90/96 , A61B90/98 , A61B2017/00725 , A61B2034/2061 , A61B2034/301 , A61B2034/715 , A61B2034/741 , A61B2090/374 , A61B2090/376 , A61B2090/378 , A61M2025/0166 , G01B11/165 , G01L1/242
摘要： An instrument system that includes an image capture device, an elongate body, an optical fiber and a controller is provided. The elongate body is operatively coupled to the image capture device. The optical fiber is operatively coupled to the elongate body and has a strain sensor provided on the optical fiber. The controller is operatively coupled to the optical fiber and adapted to receive a signal from the strain sensor and to determine a position or orientation of the image capture device based on the signal.
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公开(公告)号：US08608773B2
公开(公告)日：2013-12-17
申请号：US11522695
申请日：2006-09-18
申请人： Michael J. Tierney , Thomas Cooper , Chris Julian , Stephen J. Blumenkranz , Gary S. Guthart , Robert G. Younge
发明人： Michael J. Tierney , Thomas Cooper , Chris Julian , Stephen J. Blumenkranz , Gary S. Guthart , Robert G. Younge
CPC分类号： A61B34/30 , A61B17/00234 , A61B18/1445 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/76 , A61B46/13 , A61B90/361 , A61B90/90 , A61B90/98 , A61B2017/00477 , A61B2017/00482 , A61B2034/305 , A61B2090/0803 , A61B2090/0818 , A61B2090/506 , G06Q30/02 , H01H36/0046 , H01H85/0056 , Y10S901/41 , Y10T74/20305 , Y10T74/20311
摘要： Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible with that particular robotic system. Secondly, the tool memory may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory of the tool may indicate tool-specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information may be stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. The invention further provides improved engagement structures for coupling robotic surgical tools with manipulator structures.
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66.发明申请SYSTEM AND METHOD FOR SELECTIVE MEASUREMENT OF FIBER OPTIC INSTRUMENT SENSORS 审中-公开光纤仪器传感器的选择性测量系统和方法公开(公告)号：US20130085331A1
公开(公告)日：2013-04-04
申请号：US13602990
申请日：2012-09-04
IPC分类号： A61B1/00
CPC分类号： G01B11/16 , A61B1/00004 , A61B1/00013 , A61B1/00045 , A61B1/00057 , A61B1/00165 , A61B1/0017 , A61B5/0059 , A61B5/0064 , A61B5/06 , A61B5/065 , A61B5/066 , A61B5/4887 , A61B5/7285 , A61B6/12 , A61B8/00 , A61B8/48 , A61B18/082 , A61B34/20 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/77 , A61B90/39 , A61B90/96 , A61B90/98 , A61B2017/00725 , A61B2034/2061 , A61B2034/301 , A61B2034/715 , A61B2034/741 , A61B2090/374 , A61B2090/376 , A61B2090/378 , A61M2025/0166 , G01B11/165 , G01L1/242
摘要： An instrument system that includes an elongate body, an optical fiber, and a controller is provided. The optical fiber is operatively coupled to the elongate body and has a plurality of strain sensors provided on the optical fiber. The controller is operatively coupled to the optical fiber and adapted to obtain signals from one of the plurality of strain sensors more frequently than from another of the plurality of strain sensors and to determine a position of the elongate body based on the obtained signals from the one of the plurality of strain sensors.
摘要翻译： 提供一种包括细长体，光纤和控制器的仪器系统。 光纤可操作地耦合到细长主体并且具有设置在光纤上的多个应变传感器。 控制器可操作地耦合到光纤并且适于从多个应变传感器中的另一个应变传感器获得来自多个应变传感器之一的信号，而不是从多个应变传感器中的另一个获得信号，并且基于从所述多个应变传感器获得的信号来确定细长体的位置 的多个应变传感器。
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公开(公告)号：US20120323115A1
公开(公告)日：2012-12-20
申请号：US13594566
申请日：2012-08-24
IPC分类号： A61B6/00 , A61M25/092
CPC分类号： A61B5/06 , A61B5/065 , A61B34/20 , A61B2017/00243 , A61B2034/2046 , A61B2034/2051 , A61B2034/2072 , A61B2090/0812
摘要： A method for tracking an elongate body is provided. The method includes determining a spatial relationship between an elongate body and an optical fiber, wherein the optical fiber is located in a structure having a substantially constant shape; receiving a signal from a strain sensor provided on the optical fiber; and determining, based on the signal, whether a position of the optical fiber relative to the structure has changed.
摘要翻译： 提供了一种跟踪细长体的方法。 该方法包括确定细长主体和光纤之间的空间关系，其中光纤位于具有基本恒定形状的结构中; 从设置在光纤上的应变传感器接收信号; 以及基于所述信号确定所述光纤相对于所述结构的位置是否已经改变。
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68.发明申请公开(公告)号：US20120321243A1
公开(公告)日：2012-12-20
申请号：US13594664
申请日：2012-08-24
IPC分类号： G01L1/24
CPC分类号： G02B6/022 , A61B5/1076 , A61B5/6852 , A61B2017/00039 , A61B2017/00053 , A61B2034/2061 , A61B2090/067
摘要： An instrument system that includes an elongate body, an optical fiber, and a detector is provided. The elongate body is capable of being twisted. The optical fiber includes a first portion coupled to the elongate body and a second portion having a curved shape adapted to reduce transfer of twisting or bending from the elongate body to the second portion, the second portion having a strain sensor provided thereon. The detector is coupled to the optical fiber and adapted to receive a signal from the strain sensor.
摘要翻译： 提供了一种包括细长体，光纤和检测器的仪器系统。 伸长的主体能扭曲。 光纤包括耦合到细长主体的第一部分和具有弯曲形状的第二部分，该第二部分具有适于减小从细长主体到第二部分的扭转或弯曲的传递，第二部分具有设置在其上的应变传感器。 检测器耦合到光纤并且适于接收来自应变传感器的信号。
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69.发明申请公开(公告)号：US20120316432A1
公开(公告)日：2012-12-13
申请号：US13594646
申请日：2012-08-24
CPC分类号： G02B6/022 , A61B5/1076 , A61B5/6852 , A61B2017/00039 , A61B2017/00053 , A61B2034/2061 , A61B2090/067
摘要： An instrument system that includes an elongate body and an optical fiber is provided. The elongate body has a longitudinal axis and capable of being twisted about the longitudinal axis. The optical fiber is operatively coupled with the elongate body and having a strain sensor provided thereon. The strain sensor is configured to indicate twist of the elongate body.
摘要翻译： 提供了一种包括细长体和光纤的仪器系统。 细长主体具有纵向轴线并且能够围绕纵向轴线扭曲。 光纤与细长主体可操作地耦合并且具有设置在其上的应变传感器。 应变传感器构造成指示细长体的扭转。
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公开(公告)号：US08290571B2
公开(公告)日：2012-10-16
申请号：US12507706
申请日：2009-07-22
IPC分类号： A61B5/00
CPC分类号： A61B5/06 , A61B5/065 , A61B34/20 , A61B2017/00243 , A61B2034/2046 , A61B2034/2051 , A61B2034/2072 , A61B2090/0812
摘要： A method and system for maintaining calibration of a distributed localization system are presented. After a baseline calibration of sensors distributed on a working instrument and reference instrument, if movement of the reference instrument is detected, shape sensing data from a Bragg shape sensing fiber also coupled to the reference instrument may be utilized to recalibrate the localization system. The reference instrument preferably is located intraoperatively in a relatively constrained anatomical environment, such as in the coronary sinus of the heart, to prevent significant movement.
摘要翻译： 提出了一种用于维护分布式定位系统校准的方法和系统。 在分布在工作仪器和参考仪器上的传感器进行基线校准后，如果检测到参考仪器的移动，则可以利用来自参考仪器的布拉格形状传感光纤的形状感测数据来重新校准定位系统。 参考仪器优选地在手术中位于相对受限的解剖环境中，例如在心脏的冠状窦中，以防止显着的运动。
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